二足筋骨格ロボットの跳躍マップに基づく前額面剛性比制御

抄録

The purpose of the research is to realize stable continuous hopping using musculoskeletal biped robot actuated by pneumatic artificial muscle. We proposed a method to model robot dynamics with a data driven method. We created a model by simulation, and applied that model to a musculoskeletal biped robot and achieved two hopping.